I have heard of some people who will shower with their sibling, but that usually stops once one of them requests privacy (usually because they hit puberty). I have a friend who used to shower with her sister. They’d never touch each other unless it was accidental. She would admit to peeing in there with her, but they were both like 5-9 years old so it wasn’t a sexual/weird thing at all. I guess they just couldn’t hold it any longer or something.
If it’s something like masturbation, do it in your own bed and wait until your sibling is sleeping in their own bed.
Deliberately watching them or doing it with/to them is just gross.